Agent.h
Go to the documentation of this file.
00001 /*
00002  * Copyright (c) 2012, Daniel Claes, Maastricht University
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Maastricht University nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 
00031 
00032 #ifndef AGENT_H
00033 #define AGENT_H
00034 
00035 #include "collvoid_local_planner/Utils.h"
00036 #include "collvoid_local_planner/clearpath.h"
00037 
00038 #include <boost/shared_ptr.hpp>
00039 
00040 namespace collvoid{
00041    
00042   class Agent{
00043   public:
00044     
00045     //    Agent(){};
00046     virtual ~Agent(){};
00047     
00048     void computeOrcaVelocity(Vector2 pref_velocity, bool convex);
00049 
00050     void computeClearpathVelocity(Vector2 pref_velocity);
00051     void computeSampledVelocity(Vector2 pref_velocity);
00052 
00053     
00054     void computeAgentVOs();
00055     
00056     void setLeftPref(double left_pref);
00057     void setRadius(double radius);
00058     void setTruncTime(double trunc_time);
00059     void setSimPeriod(double sim_period);
00060 
00061     double getRadius();
00062     collvoid::Vector2 getPosition();
00063     collvoid::Vector2 getVelocity();
00064 
00065     
00066     //config
00067     double left_pref_;  
00068 
00069     bool use_truncation_;
00070     double trunc_time_;
00071     double timestep_, sim_period_;
00072 
00073     bool controlled_;
00074     
00075     bool orca_; // Orca or VO?
00076     bool convex_; // circle approx, or mink sum?
00077 
00078     //VO settings
00079     bool clearpath_; //Clearpath or sampling based
00080     int type_vo_; //0 = HRVO, 1 = RVO , 2 = VO
00081    
00082     //description
00083     Vector2 position_;
00084     double heading_;
00085     Vector2 velocity_;
00086 
00087     double radius_;
00088 
00089     std::vector<Vector2> footprint_;
00090   
00091 
00092 
00093     Vector2 new_velocity_;
00094    
00095     
00096     //nh stuff
00097     double cur_allowed_error_;
00098 
00099     //Orca
00100     double max_speed_x_;
00101     std::vector<Line> orca_lines_, additional_orca_lines_;
00102 
00103     //VO stuff
00104     std::vector<VO> vo_agents_, additional_vos_;
00105     std::vector<VelocitySample> samples_;
00106    
00107 
00108     
00109     std::vector<boost::shared_ptr<Agent> > agent_neighbors_;
00110 
00111     
00112   };
00113 
00114   typedef boost::shared_ptr<Agent> AgentPtr;
00115   
00116 
00117 }
00118 
00119 #endif
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Properties Friends Defines


collvoid_local_planner
Author(s): Daniel Claes
autogenerated on Sun Aug 25 2013 10:10:23